Minaj was energetic during her set, telling the crowd that Philadelphia is one of "her favorite places." She performed "Super Bass," ''Pills N Potions" and closed with "Moment 4 Life."

Pop singer Ariana Grande was supposed to be part of the lineup Friday, but her representative said she had to pull out because of a family emergency.

Hudson belted her signature high notes, especially on "And I Am Telling You I'm Not Going." When she sang "Spotlight," Philadelphia Mayor Michael Nutter got out of his seat, nodded his head and sang along.

Philadelphia's Benjamin Franklin Parkway is also the home for the Jay Z-curated Made In America festival.

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Aloe Blacc, right, performs with the Questlove, left, and The Roots at the Philly Fourth of July Jam in Philadelphia on Friday, July 4, 2014. (Photo by Mark Stehle/Invision/AP) (Mark Stehle/Mark Stehle/Invision/AP)

Ed Sheeran performs with the Roots at the Philly 4th of July Jam in Philadelphia on Friday, July 4, 2014. (Photo by Mark Stehle/Invision/AP) (Mark Stehle/Mark Stehle/Invision/AP)